Automatic airplane pilot



Feb. 18, 1936. c. H. HAvlLl.

AUTOMATIC AIRPLANE PILOT Filed Oct. 6. 1932 4 Sheets-Sheet 1- Feb. 1s, 193e.

c. H. HAv|L|g- A AUTOMATIC AIRPLANE PILOT 4 Sheets-Sheet 2 Filed 0Gt. 6, 1932 141| hllll .Natrwl A TTORNEK Feb. 18, 1936. c, H. HAvlLl.

AUTOMATIC AIRPLANE PILOT Filed Oct. 6, 1932 4vSheets-Sl'1eevt 3- A TTORNEY.

4 Sheet-*Sheet 4 -C. H. HAVILL AUTOMATIC AIRPLANE PILOT Filed Oct: 6, 1932 I Patentedl Feb.A 18,` 1936- AUTOMATIC AIRPLANE'PILOT Clinton H. Havill, South'Oi-ange, N. J., asslgnor,

by meane assignments, to Eclipse Aviation Corporation, East yOrange, N. J., a corporation of New Jersey Application october s, rss2. serial No. esatta.

21 claim. (ci. 244-29) 1' This invention relates to airplanes and more particularly to automatic airplane controls or pilots. e An object of the invention is to provide an airplane with an automatic control that will stabilize the plane about coordinate axes.

Another object oi the invention is to provide an airplane with an automatic control anda manual control, the arrangement of parts being such that the manual `control is immediately available in caseoi failure of the automatic control.

Another object oi the invention is to provide an airplane with an automatic hydraulically operated control which will introduce very slight resistance to manual operation when the hydraulic control is inoperative.

Another object of the invention is to providey an automaticairplane control for the elevator, rudder and ailerons in which the elevator and rudder are locked against manual operation when the automatic control is operative but in which the ailerons are manually movable against the force of the automatic control.

Another object of the invention is to so interconnect a manual and an automatic control for an airplane that the manual control is moved by the automatic control to provide an indication of the amount of movement of the automatic control. 2

AnotherA object of the invention is to provide an airplane with an automatic control in which a gyroscopic device is used to control a hydraulic servo-motor that is interconnected with movable surfaces of the plane.

Another object of the invention is to provide an airplane with a plurality of servo-motor devices in which certain of the devices are locked against manual operation and others..of whichA rangement of the controlling devices;

Fig. 2 is a'top plan view oi' the servo-motor used .to actuate the rudder and elevator controls;

motors actuating the elevator and rudderV are `preferably'constructed so that during the operaeration unless-the servo-'motors be disconnected'.

Fig. 3 is a longitudinal sectional view taken along the line 3 3 of Fig. 2;y

Fig. 4 is a transverse sectional view taken on the line l-I of Fig. 2; l

Fig. 5 is a transverse sectional view on the line 5 5-5 o! Fig. 2; I

Fig. 6. is a top plan view of the servo-moto used to actuate the aileron control;

Fig. 'I is alongitudinal sectional view taken on the line '|'1'of Fig. 6; m

Fig. 8 is a transverse sectional view taken on the line 8 8 of Fig-6;

Fig. 9 is alongitudinal sectional view of the distributing and relief valve device shown partly in elevation as taken along the line 9-9 ol.' 15 Fig. 11; Fig. 10 is a top plan view' of the distributing device shown in Fig. 9;

Fig. 11 is a transverse. sectional view taken on well known indicating instruments. The instru'- 30 ments used in the illustrative embodiment are preferably of the gyroscopic type.' 'I'he rudder is controlled by an ordinary directional gyroscope or compass and the ailerons and elevator are controlled by movements of the well known artiilcial horizon. Manual-controls are also incorporated which are interconnected with the servo-motors so as to be operative immediately uponposslble failure oi 'the automatic control. The servotion of the automatic control, the manual control will be locked against operation so thatlit will be impossible .ior the operator to chang either the rudder orlelevator'by a 'manual Aopi- Referring to the drawings and particularly to Fig. l, the numeral I generally designates the airplane having a propeller II, a rudder 8, elevators 9, an'd ailerons I2. The ailerons are'connected by cables I3 and to a servo-motor I4 which is operable to pull cables I3 in either direction for tilting of the ailerons and cause rotation of the plane as a whole about a longitudinal axis. this action being ordinarily known as banking. 'Ihe cables I3 are also.secured to member I6 which is connected with the manual control lever I1 by shaft I8. Servo-motor I4 is .controlled through a valve mechanism, hereinafter more fully described, by one of the movements of the.

artificial horizon instrument I9, the connection between the artificial horizonindicator and the servo-motor being preferably through an electrical mechanism and solenoid hereinafter more fully described, the wires controlling the valve i being indicated in Fig. 1 at '28.

` f The rudder and elevator control are each controlled by identical servo-motors.

l 22 which is usedto'` actuate the rudder 8 is pref- Servo-motor erably'electrically controlled by the direction indicating instrument 23 through a pair of wires 24, and servo-motor 26 foi actuating the elevator is electrically controlled by another movement of the articial horizon instrument I9 through a pair of wires 25 therefrom. All .of the servomotors are hydraulically actuated by a pump 21 which is'driven by the engine ,(not shown) and ordinarily delivers presure to each of the servomotors through a distributini device 28 which acts as a relief valve to allow excess pressure to return to the oil reservoir 29 through overflow pipe 3I and also acts as a shut-oil valve to render all of the servo-motors inactive and permit man ual control of the plane.

The cutting off of the servo-motors from the pressure system is preferably actuated by an electric device in order to permit the control to be placed upon the instrument board, and in Fig.

1 the battery is indicated at 32 and the control switch at 33, the arrangement being such that when the switch 33 is closed, oil pressure is forced to the servo-motors andthe automatic control is in a position to be operative. Each of the servo-motors is also provided with a return pipe to allow the oil pressure to be relieved and the fluid returned to the sump 29.

In 1 servo-motor 22 is the only one in which all the connections are shown and it is understood that each of the servo-motors is provided with control wires leading from a source of electrical energy as indicated by numerals 20 and 25 to the respectivev instruments, and also a delivery pipe and return pipe, the delivery pipe to servo-motor 22 being indicated at 34 and the return pipe at 36. `Servo-motor 22 is connected with rudder 8 by cables v38 which are also connected to the opposite ends of the manual rudder control bar 39. Servo-motor 26 is connected to elevators 9 by cables 4I and valso to manual control lever I1. It will be understood by the. above description that all of the airplane controls may beactuated by servo-motors. but atthe same time they are directly connected to the manual controilever l1, and the rudder bar as through which they may becontrolled immediately in case of possible failure of the automatic control system, and that lever I1 will be moved .by the automatic controls in a manner to indicate which of the various controls is being moved by the servo.

ner to permit both of the instruments to operate in their usual manner, to indicate to the pilot 'the attitude of the airplane. The manual control lever I1. as best shown in Fig. 13, may be of any well known type and as shown is pivotally mounted upon pin-44 passing through shaft I8 that is suitably mounted in bearings 41 and 48. Forward or rearward rocking of lever I1 causes no rotation of shaft I8 but serves to actuate the elevators through cables 4I. Rocking lever I1 in a plane at right angles to the axis of shaft I8 causes no appreciable movement of cables 4I, but rocks lever or saddle I6 to move cables I3 for controlling the ailerons. Manual movement of the rudder 8 is produced by rotation of rudder bar 39 about its pivotal point 5I.

As before stated, the rudder and elevator servomotors are identical and therefore only one of these will be described. In Fig. 3 the body of the device is provided with a cylinder 52 within which reciprocates a piston 53 that is connected to a shaft 54 extending through oppositeends of the cylinder and adapted to be connected to the cables as shown in Fig. 1. Each end of the cylinder is closed by a cap 56 fastened to the cylinder by bolts 51 shown in Fig. 2, and preferably provided with a sealing gasket 58. A packing gland 59 surrounds rod 54 at each end of the cylinder by which packing 6I may be compressed to prevent leakage from the cylinder and bumper springs 55 which encircle the rods 54, are prefer- -ably located at each end of the cylinder.

A bearing 62 is .provided at each end of the cylinder having ari oil groove 63 formed therein which communicates with drain holes 64 in the .bearings and into which excess oil may pass through cored holes 65 in the `cylinder to a passage 66 from whence the excess oil may:l be directed back to the oil reservoir 29 by pipe 61. A cored passage 69 is located immediately above cylinder 52 which hasa communication with the cylinder on opposite sides of the piston 53 by virtue of ports 1I-1I. During operation of the servomotor the -ends of ,cored passage 69.are separated one from the other by a valve 12 which will be hereinafter more fully described and which is illustrated in Fig. 4. Immediately above the cored passage 69 is the valve cylinder 14 in which is slidable a balanced piston valve 16 having cylindrical portions 11 and 18 adapted to close conduits 86, 82, 83, and 84 when the valve is in the neutral position as shown in Fig. 3. Opposite ends of valve operating shaft 86 are encled by packing glands 31 held in position by bolts 88 and serving to clamp packing 89 about the shaft. Valve 16 is normally urged to its central or neutral position by springs 90 coacting Abetween the cylindrical portions 11 and 18 and packing glands 9|. as the case may be, by solenoids 93 and 94 which are energized from any suitable source of current by wires 24-25 which are connected to the instruments- 23 or I9 depending on whether the servo-motor is to be used to actuate the rudder or the elevator. Pressure for actuating piston 53 is supplied from the pump 21 by conduit 34 which leads through passage |02 to the orifice |83, Fig. 4, controlled byl the adjusting valve |04 and into the space I formed by the reduced por-- tion of the valve stem between cylindrical portions 11 and. 18. When'pressure is supplied to the recess |05,- oil may pass downwardly through passage I 08 and act on the outer end of sleeve -III9 whereby-the sleeve will be forced inwardly` against the compression of spring III, from the 7.5

Shaft 86 is moved to the'right or'left,

position shown in Fig. 4, to close conduit 69 and check the ow of uid between the right and left portions thereof, as viewed in Fig. 3. The sleeve right, as viewed in Fig. 3, by energization of sole-- noid 93 causes cylindrical portions 18 to uncover passage 8D and cylindrical portions 11 to uncover passage 83. In this position of the valve, oil will beforced from recess |85 through passage 83 to the right side portion of conduit 69 and through port 1|' into the cylinder 52 and cause piston 53 to be moved toward the left and move the cables 38 to actuate the rudder, or cables 4| to actuate the elevator, depending on which servo-motor is being described, it being, understood that the servo-'motors for the rudders and elevator are identical but operative under different conditions and by diierent instruments. As piston 53 is moved toward the left the oil present on the left side of the piston will be forced out of port 1| into conduit '69 and through passage 80 to' the left of cylindrical portion 18 from whence it will be returned to thesump 29 by means of passage and return pipe 36. e

If valve shaft 86 is moved toward the left by energization of solenoid 94,` passageway 82 will become the inlet opening and passageway 84 will become the exhaust opening. Piston 53 will then be moved toward the right, as viewed in Fig. 3, and the oil on the right side of the piston will exhaust through ports 1|' and 34 to the right side of cylindrical portion 11, to return to the sump by passages ||3 and 36, as best viewed in Fig. 2.

The servo-motor I4, shown in Figs. 6, '1, and 8, for use in controlling the ailerons is quite similar in principle to that used in controlling the elevator and rudder, except that cylindrical portions |2| and |22 of the operating valve are somewhat shorter and do vnot close passages |23 and |24 when the valve is in a neutral position and therefore there isv no necessity of providing an automatic valve such as shown at 12, Fig. 3, in the conduit for connecting or disconnecting the right and left portions of conduit |26, for it'will 'valve pocket |28. The operation of the aileron control is similar to the rudder and elevator control above described, .and movement oi' valve stem |3| toward the right by energization of solenoid |32 will uncover port |33 and cause pistonV |21 'to be moved/toward the left and force vtheoil on the left side of the piston through |34, and passage |26 andto |23 to th left side of cylindrical portion I 2|, from which it will be returned to the sump by passage |36 and return pipe |31. Actuation of valve rod 3| 'toward the left by solenoid |35 will cause cylindrical portion |2| tounc over inlet passage |4| through which oil may ow to the left side of the piston |21 and force it toward the right to actuate the ailerons in tli'e reverse direction. l s

The delivery of oil from pump 21 ispreferably through'a distributing device illustrated in Figs. 9 to 12 inclusive. The body of the-distributing de vice is provided with c cylinder isi in which reciprocates a piston |52 normally pressed toward lthe left, as viewed in Fig. 9, by a spring |53, held in position by an adjustable cap |54 having a vent opening |56. Oil enters cylinder from the pump 21 by pipe |51, the pressure of the fluid forcing piston |52 toward the right until it uncovers relief passage |58 through which the excess ows intopassage |59 and through pipe 3| back to the reservoir 29. 'Ihe interior of cylinder |5| is connected to the aileron servo-motor |4 by pipe I5, the rudder servo-motor 22 by pipe 34, andl the elevator servo-motor 26 by pipe 30, these pipes being in communication with the interior of the cylinder |5| at all times. The inlet' |51 is connected to the outlet 3| through a passage |61 which is opened and closed by a valve |68 normally pushed to the open position byA a spring |69 and forced' to the closed position by the energization of the solenoid |1| connected with the valve by a link |12 pivotally mounted on theV distributor by bracket |13. The arrangement of the valve and solenoid is such that upon closure of switch 33, solenoid |1| is energized and rocks 'link |12 in a cicckwise direction, whereby vaivc |68 is moved to theposition shown in Fig. 1l andl closes passage |61, whereby direct communication with the outlet pipe 3| to cut oil. and theoil must be forced .into cylinder |5| which is in communication with the servo-motors. It switch 33 is in the open position, spring |69 forces piston |68 toward the right and direct communication will be established between the inlet and outlet passages and there will not be suflicient pressure built up in the cylinder to actuate the servomotors. Spring |53 is preferably 'of considerable length and exerts a substantial force on piston |52- when it has been moved to its extreme left' position. This construction of the spring and for when any of the valves to the servo-motors is opened, thereis an immediate drop in -oil pressure and the use of a reserve supply under spring pressure permits the use of a smaller pump than could otherwise be used. l 'j In the operation of the device, should the operator desire an automatic control, switch. will beiclosed whereby the pump 21 will deliver position to be acted upon by the pressure when the valves are moved by the direction-indicating* instruments, it being understood thatthe' insti-u-` ments are so set that i! there ls any deviation i'rom the desired attitudeo! the plane,- the servo-1:

motors will be actuatedtooperate the correct Lcontrol of the plane to stabilize it and cause it .to assume ,its original position. So long as .switch 33 is closed the oil pressure will cause valve |09,

Fig. 3, in both-the rudder and elevatorxservo motors to close communication between opposite sides of passage 69 and there can be no movement of either ol these controls by actuation o! 'the'V manually operated lever |1. In the neutral posi-- tion of the valve all aways from opposite sides of the piston are closed and because ol.' the incompressibility of liquids,I it will be impossible to move piston 53 until one of the ex` haust passages has been uncovered. 017 a direct communication established between opposite ends of the piston. In the present case'direct com munication can be established only by a drop inl oil pressure at-wliich time valve 12 will be moved to open theopposite side of passage 69 and the iiiy . oil td ech of the servo-motors and they are in a manually operated control is immediately available because of the free exchange of liquid from one side of the piston to the other. This is a desirable arrangement for. rudder and elevator controls, for they will rarely beadjusted during a normal flight and it is desirable to prevent operation of these members by manual control at this time because otherwise there might be an adjustment oi the elevator or rudder by an accidental pressure applied to the control stick I1.

Control of the ailerons is a slightly different matter and in the construction shown they are Y under the control of the pilot at all times as the exhaust passages are not covered by the valve. I f the.control valve`16 of the aileron servo-motor be in a position to force the piston from one side to the other, the manual force applied to the stick will either augment or detract from. the force normally supplied by the pump. It is desirable to have the aileron control freely movable by the control stick during a neutral position of the valve. for by this arrangement the pilot is enabled to correct his banking attitude immediately .without waiting for the action of the servo-motor.

Althougha preferred embodiment of the invention has been illustrated and described in the accompanying drawings, it is understood that this showing and description are illustrative only and that the invention is not regarded as limited to the form illustrated and described, or otherwise, except by the terms of the following claims.

What is claimed is:

1. In an airplane having movable surfaces rotatable about separate axes, a source oil fluid pressure, manual controls for the surfaces, pressure actuated automatic controls for the surfaces, and means actuated by the fluid pressure for preventing manual control of certain of the surfaces when the automatic control is operative, and in the neutral position, said means being operative to permit manual operation upon is operative and in the neutral position, said failure of the uid pressure.

y2. In an airplane having rudder, aileron and elevator members, .automatic controls for the members, manual controls. for the members, and means for preventing manual control only of the rudder and elevator when the automatic control means being operable to render the manual control operative when the automatic control is inoperative. v

3. In an airplane having rudder, aileron and elevator members, automatic controls forthe members, manual controls for the members, means for preventing manual control of the rudder and elevator when the automatic control only is operative and in the neutral position and said aileron control being adapted to be jointly operated atall times by both automatic and manual' controls.

4. In an airplane having rudder, aileron and elevator members, automatic controls for the members, manual controls for the members, means for preventingr manual control of* the rudder and elevator when the automatic control is pperative and in the neutral position, and all of said manual controls being interconnected with the automatic contrpls in a manner to be moved thereby, said means being automatically operable to render the manual control operative when the automatic control is inoperative.

5.. Inan airplane having rudder, aileron and elevator members, automatic controls for the members, manual controls for the members,

means for preventing manual control of the rudder and elevator when the automatic control is operative, and automatic means for rendering the manual control of the rudder and elevator operative upon failure of the automatic control.

trols connected with the pistons and4 surfaces, and a pressure actuated valve adapted to prevent both ingress and egress from said cylinder in the neutrai position of the first named valve for render` ing the manual controls inoperative to move the pistons when the pressure is above a predetermined value. c

7. In an airplane having a plurality of movable surfaces rotatable about different axes and instruments for indicating the attitude of the plane with respect tothe axes, a hydraulic pump, cylinders having pistons actuated by the pinnp and operably connected to the surfaces, valves operable by movement of the instruments for controlling fluid ingress and egress to and from opposite sides of said pistons for moving the same to correct the attitude of the plane', manual controls connected with the pistons and surfaces, certain of said valves being adapted to prevent both ingress and egress from said cylinder in the neutral position of the valve for rendering the manual controls inoperative to move the pistons, and another of said valves being adapted to control fluid ingress only to the cylinder, said last named cylinder having outlet ports on opposite sides of the piston arranged to be open at all times.

8. In an airplane having a plurality of movable surfaces rotatable about different axes and instruments for indicating the attitude of the plane with respect to the axes, a hydraulic pump, cylinders having pistons actuated hy the pump and operably connected to the surfaces, valves operable by movement of the instruments for controlling uid ingress and egress to and from opposite sides of said pistons for moving the same to correct the attitude of the plane, manual controls connected with the pistons and. surfaces, a pressure actuated valve adapted to prevent both ingress and egress from said cylinder in the neutral position of the rst named valves for rendering the manual controls inoperative to move the pistons when the pressure is above a predetermined value, and means for establishing a communication between opposite sides of the piston upon a failureof the fluid pressure.

9. In an airplane having a plurality of movable surfaces rotatable about different axes and instruments for indicating the attitude of ,-the

ual controls inoperative to move the pistons, a conduit connecting opposite sides of said piston. and a pressure operated valve therein adapted to open said conduit upon a failure of iluid pressure.

10. In an airplane having movable surfaces rotatable about different axes and instruments for indicating the attitude of the plane, a hydraulic indicating the attitude of the plane, a hydraulic pump, a plurality of hydraulic servo-motors actuated by the pump and operatively connected to the surfaces, mechanical control means for. the servo-motors, electrical circuits controlled by the instruments for operating the mechanical controls, a relief device for simultaneously disconnecting all servo-motors from the pump, a manual control for the surfaces connected with the servo-motors and adapted to be operative when the servo-motors are inoperative, and a pressure actuated valve in certain of. said servo-motors adapted to establish a free circulation of fluid in the motors during operation of the manual control and to obstruct free circulation of fiuidduring actuation of the surfaces by the servo-motors.

12. In an airplane having movable surfaces, hydraulic servo-motors for operating the surfaces,- indicating instruments for controlling the servo-motors, a hydraulic pump having a uid connection with the servo-motors, a distributing device between the pump and servo-motors adapted to store a reserve supply of fluid, means for forcing said reserve supply into the fluid connection when fluid flow is established in the connection by actuation of the servo-motors, and

' means for establishing uid fiowthrough the (lor device after a predetermined pressure has been reached. K l

13. In an airplanehaving movable surfaces, hydraulic servo-motors for operating the surfaces, indicating instruments for controlling the servo-motors, a hydraulic pump having a uid' connection with the servo-motors, a distributing device between the pump and servo-motors adapted tofstore areserve supply of fluid, means for forcing said reserve supply into the fluid connection when uid flow is established in the connection by actuation of the servo-motors, means foriestablishing a fluid flow through the device after a predeterminedpressure has been reached, and manually controlled means for\pre venting actuation of the servo-motors. f

14. In an airplane having movable surfaces, hydraulic servo-motors for operating the surfaces, indicating instruments for controlling the servo-motors, a hydraulic pump having a fluid connection with the servo-motors, a distributing device between the pump and 'servo-motors adapted to store a reserve supply of fluid, means for forcing said reserve supply into the fluid con-- nection when uid ow is established in the connection by actuation -of the servo-motors, and a adapted to store a reserve supply of fluid-upon movement of the piston, means in the device for relieving pressure in the system and on the re- J serve supply, andmanual controls for the members adapted to actuate the same when the pressure is relieved.

. 16. In an airplane having a movable control surface, a source of fluid pressure, an automatic control for the surface including a pressure actuated piston movable in a cylinder, a manual control for the surface movable with the piston, a valve having operative and neutral positions for controlling pressure to the cylinder in a manner to prevent operation of the piston by the manual control when the valve is in a neutral position, and an automatic pressure controlled valve actuated by said 'source of uid pressure for rendering the manual controloperable when the pressure is reduced below a predetermined value.

v 17. In `an airplane having a movable controll surface, a source of fluid pressure, an automatic control for th'e surface including a pressure actuated piston movable in a cylinder, conduits having ports communicating pressure to the cylinder on opposite sides of said piston, a valve having operative and neutral positions for controlling said ports arranged to close th'e same in the neutral position of the valve and to prevent transfer of fluid from o ne side of the piston to the other whereby the piston is restrained against movement, a manual control for the surface movable with the piston, means forming a passage connecting opposite sides of said piston, and a pressure actuated valve in said passage actuated ,by said source of fluid pressure and arranged to close the passage when the pressure is suflicient to operate the automatic control and to open said passage when the pressure falls below a predetermined value, l

18. In an airplaneghaving movable surfaces rotatable about separate axes, a power source, manual controls for the surfaces, power actuated automatic controls for the surfaces, means actuated by the power source for restraining manual control of certain of the surfaces when the automatic control is operative and is in the neutral position, said manual control being movable rwith the` automatic control, and said restraining means being controlled by said power source in a manner to render said restraining means inop- 19. In an airplane having a plurality'ofl movable surfaces individually rotatable about coordi- I nate axes, a source of pressure, a pressure actuated servo-motor for rotating each surface, automatic control means for the servo-motors, manual control means for each surface, one of said servo-motors being adaptedfto be prevented from actuation of the same by the manualv control in one position of the automaticontrol, another of said 4servo-motors being adapted to' be iniiuby said source of pressure and associated with the servo-motor which is adapted to be prevented fromv operation by the manual control, said lastnamed device being arranged to render the manual control operative upon a failure of pressure.

20. In an airplane having rudder, aileron and elevator members, a source of power, power actuated automatic controls ior the members, manual controls for the members, means for preventing manual movement only of the rudder and elevator when the automatic control is operative and in the neutral position, means for simultaneously rendering the automatic controls inoperative and the manual controls operative, and devices actuated by said source of power and associated with the rudder and elevator automatic controls for rendering the manual controls ci.' the rudder and elevator operative upon a failure of the power supply. 21. In an airplane having a plurality of movable surfaces rotatable about diiferent axes and instruments i'or indicating the attitude of the airplane with respect tothe axes. a source of hydraulic pressure, cylinders having pistons actuated by the source of pressure, valves operable by movement of the instruments for controlling uid ingress and egress to and from opposite sides of said pistons for moving the same to correct the attitude of the airplane, manual controls operatively connected to the pistons and adapted to move the same to control the surfaces, passages connecting opposite sides of said pistons. and a valve in the passage of one of said cylinders actuated by said source of pressure to prevent both ingress and egress from said cylinder in the neutral position of the iirst named valve and a spring for moving said pressure actuated valve to open said passageway whereby said piston may be moved by the manual control when the pressure falls below a predetermined value.

CLINTON H. HAVILL; 

